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IRLock: replace tabs with spaces

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No functional change
This commit is contained in:
Randy Mackay 2015-08-31 14:17:20 +09:00
parent 7db77482f5
commit 2351e84592
4 changed files with 77 additions and 77 deletions
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66
libraries/AP_IRLock/AP_IRLock_PX4.cpp
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@ -31,53 +31,53 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
AP_IRLock_PX4::AP_IRLock_PX4() : AP_IRLock_PX4::AP_IRLock_PX4() :
_fd(0), _fd(0),
_last_timestamp(0) _last_timestamp(0)
{} {}
void AP_IRLock_PX4::init() void AP_IRLock_PX4::init()
{ {
_fd = open(IRLOCK0_DEVICE_PATH, O_RDONLY); _fd = open(IRLOCK0_DEVICE_PATH, O_RDONLY);
if (_fd < 0) { if (_fd < 0) {
hal.console->printf("Unable to open " IRLOCK0_DEVICE_PATH "\n"); hal.console->printf("Unable to open " IRLOCK0_DEVICE_PATH "\n");
return; return;
} }
_flags.healthy = true; _flags.healthy = true;
} }
// retrieve latest sensor data - returns true if new data is available // retrieve latest sensor data - returns true if new data is available
bool AP_IRLock_PX4::update() bool AP_IRLock_PX4::update()
{ {
// return immediately if not healthy // return immediately if not healthy
if (!_flags.healthy) { if (!_flags.healthy) {
return false; return false;
} }
// read position of all objects // read position of all objects
struct irlock_s report; struct irlock_s report;
uint16_t count = 0; uint16_t count = 0;
while(::read(_fd, &report, sizeof(struct irlock_s)) == sizeof(struct irlock_s) && report.timestamp >_last_timestamp) { while(::read(_fd, &report, sizeof(struct irlock_s)) == sizeof(struct irlock_s) && report.timestamp >_last_timestamp) {
_target_info[count].timestamp = report.timestamp; _target_info[count].timestamp = report.timestamp;
_target_info[count].target_num = report.target_num; _target_info[count].target_num = report.target_num;
_target_info[count].angle_x = report.angle_x; _target_info[count].angle_x = report.angle_x;
_target_info[count].angle_y = report.angle_y; _target_info[count].angle_y = report.angle_y;
_target_info[count].size_x = report.size_x; _target_info[count].size_x = report.size_x;
_target_info[count].size_y = report.size_y; _target_info[count].size_y = report.size_y;
count++; count++;
_last_timestamp = report.timestamp; _last_timestamp = report.timestamp;
_last_update = hal.scheduler->millis(); _last_update = hal.scheduler->millis();
} }
// update num_blocks and implement timeout // update num_blocks and implement timeout
if (count > 0) { if (count > 0) {
_num_targets = count; _num_targets = count;
} else if ((hal.scheduler->millis() - _last_update) > IRLOCK_TIMEOUT_MS) { } else if ((hal.scheduler->millis() - _last_update) > IRLOCK_TIMEOUT_MS) {
_num_targets = 0; _num_targets = 0;
} }
// return true if new data found // return true if new data found
return (_num_targets > 0); return (_num_targets > 0);
} }
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4 #endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

14
libraries/AP_IRLock/AP_IRLock_PX4.h
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@ -13,17 +13,17 @@
class AP_IRLock_PX4 : public IRLock class AP_IRLock_PX4 : public IRLock
{ {
public: public:
AP_IRLock_PX4(); AP_IRLock_PX4();
// init - initialize sensor library // init - initialize sensor library
virtual void init(); virtual void init();
// retrieve latest sensor data - returns true if new data is available // retrieve latest sensor data - returns true if new data is available
virtual bool update(); virtual bool update();
private: private:
int _fd; int _fd;
uint64_t _last_timestamp; uint64_t _last_timestamp;
}; };
#endif /* AP_IRLOCK_PX4_H_ */ #endif /* AP_IRLOCK_PX4_H_ */

10
libraries/AP_IRLock/IRLock.cpp
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@ -9,14 +9,14 @@
// default constructor // default constructor
IRLock::IRLock() : IRLock::IRLock() :
_last_update(0), _last_update(0),
_num_targets(0) _num_targets(0)
{ {
// clear target info // clear target info
memset(_target_info, 0, sizeof(_target_info)); memset(_target_info, 0, sizeof(_target_info));
// will be adjusted when init is called // will be adjusted when init is called
_flags.healthy = false; _flags.healthy = false;
} }
IRLock::~IRLock() {} IRLock::~IRLock() {}

64
libraries/AP_IRLock/IRLock.h
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@ -31,49 +31,49 @@
class IRLock class IRLock
{ {
public: public:
IRLock(); IRLock();
virtual ~IRLock(); virtual ~IRLock();
// init - initialize sensor library // init - initialize sensor library
// library won't be useable unless this is first called // library won't be useable unless this is first called
virtual void init() = 0; virtual void init() = 0;
// true if irlock sensor is online and healthy // true if irlock sensor is online and healthy
bool healthy() const { return _flags.healthy; } bool healthy() const { return _flags.healthy; }
// timestamp of most recent data read from the sensor // timestamp of most recent data read from the sensor
uint32_t last_update() const { return _last_update; } uint32_t last_update() const { return _last_update; }
// returns the number of blocks in the current frame // returns the number of blocks in the current frame
size_t num_targets() const { return _num_targets; } size_t num_targets() const { return _num_targets; }
// retrieve latest sensor data - returns true if new data is available // retrieve latest sensor data - returns true if new data is available
virtual bool update() = 0; virtual bool update() = 0;
// get_angle_to_target - retrieve body frame x and y angles (in radians) to target // get_angle_to_target - retrieve body frame x and y angles (in radians) to target
// returns true if angles are available, false if not (i.e. no target) // returns true if angles are available, false if not (i.e. no target)
bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad) const; bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad) const;
protected: protected:
struct AP_IRLock_Flags { struct AP_IRLock_Flags {
uint8_t healthy : 1; // true if sensor is healthy uint8_t healthy : 1; // true if sensor is healthy
} _flags; } _flags;
// internals // internals
uint32_t _last_update; uint32_t _last_update;
uint16_t _num_targets; uint16_t _num_targets;
// irlock_target_info is a duplicate of the PX4Firmware irlock_s structure // irlock_target_info is a duplicate of the PX4Firmware irlock_s structure
typedef struct { typedef struct {
uint64_t timestamp; // time target was seen in microseconds since system start uint64_t timestamp; // time target was seen in microseconds since system start
uint16_t target_num; // target number prioritised by size (largest is 0) uint16_t target_num; // target number prioritised by size (largest is 0)
float angle_x; // x-axis angle in radians from center of image to center of target float angle_x; // x-axis angle in radians from center of image to center of target
float angle_y; // y-axis angle in radians from center of image to center of target float angle_y; // y-axis angle in radians from center of image to center of target
float size_x; // size in radians of target along x-axis float size_x; // size in radians of target along x-axis
float size_y; // size in radians of target along y-axis float size_y; // size in radians of target along y-axis
} irlock_target_info; } irlock_target_info;
irlock_target_info _target_info[IRLOCK_MAX_TARGETS]; irlock_target_info _target_info[IRLOCK_MAX_TARGETS];
}; };